A Novel Trajectory Generation Algorithm for Robot Manipulators with Online Adaptation and Singularity Management
| Autor: | M. Mazzanti, L. Carbonari, Luca Lattanzi, D. Massa, Lorenzo Gagliardini, Cristina Cristalli |
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| Rok vydání: | 2019 |
| Předmět: |
Flexibility (engineering)
0303 health sciences 0209 industrial biotechnology Modularity (networks) 030306 microbiology Computer science Robot manipulator 02 engineering and technology Energy consumption Robot end effector law.invention 03 medical and health sciences Acceleration 020901 industrial engineering & automation Singularity law Trajectory Robot Algorithm Smoothing |
| Zdroj: | ISIE |
| DOI: | 10.1109/isie.2019.8781488 |
| Popis: | With the advent of industry 4.0, manufacturing companies often require the production of small batches of different products. Therefore, flexibility and modularity are incoming into the design of the production lines, where different robots could be integrated depending on the tasks to be performed. In this paper, a novel algorithm for the trajectory planning is developed in order to be generic and independent to the specific type of robots. This algorithm uses a smoothed exponential speed profile with an optimal smoothing parameter and a singularity management strategy. Experimental results validate its effectiveness and demonstrate the benefits in terms of energy consumption, vibrations and singularity management. |
| Databáze: | OpenAIRE |
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